search

doosan-robotics / doosan-robot

ROS for Doosan Robot
BSD 3-Clause "New" or "Revised" License
118 stars 59 forks source link

TCP and TOOL setting issues in ROS 1 #208

Open Arpit-Bhat opened 3 weeks ago

Arpit-Bhat commented 3 weeks ago
  1. I set and enable the Tool setting in Teach Pendent, then I try to get current TCP feedback in ROS environment, and it shows the current set TCP, but when I disconnect and reconnect the ROS master and control launch file, it automatically disable the TOOL setting in Teach Pendent. Moreover, when I kill the control launch file , the Tool setting in teach pendant also disabled
  2. Now, I try to use the following command to create a TCP or TOOL, and I also try to set the TCP and TOOL, but it shows an error index of 7170, hence the following commands are not working.
    1. ConfigCreateTcp.srv
    2. SetCurrentTcp.srv
    3. ConfigCreateTool.srv
    4. SetCurrentTool.srv

Master node responce [ INFO] [1718016769.336561224]: < get_current_posx_cb > [ WARN] [1718017058.862818040]: [callback OnLogAlarm] [ WARN] [1718017058.862898980]: level : 2 [ WARN] [1718017058.862958767]: group : 5 [ WARN] [1718017058.863041427]: index : 7170 [ WARN] [1718017058.863106249]: param : 1 [ WARN] [1718017058.863183053]: param : [ WARN] [1718017058.863538991]: param : [ WARN] [1718017058.866212921]: [callback OnLogAlarm] [ WARN] [1718017058.866293947]: level : 2 [ WARN] [1718017058.866373624]: group : 5 [ WARN] [1718017058.866439583]: index : 7170 [ WARN] [1718017058.866502957]: param : 0 [ WARN] [1718017058.866589667]: param : [ WARN] [1718017058.866682349]: param :

Arpit-Bhat commented 2 weeks ago

The given sample file for Tool is not working for model a0509